Creating A User Defined Mtr Instruction; An Example Systemapplication Using Stl And Ist Program Control - Mitsubishi FX1S Series Programming Manual

FX Series Programmable Controllers
10.11

Creating a User Defined MTR Instruction

For users who want to have the benefits of the MTR
instruction for FX users who want to specify more
than one MTR area, this user defined MTR function
will be very useful.
Explanation:
The main control of this program rests in the timer
interrupt I620. This interrupt triggers every 20msec
regardless of what the main program is doing. On
each interruption one bank of the user defined
matrix is read. The program simply consists of
re ading the inpu ts trig gered by each of th e
multiplexed outputs.
The read data is then stored in sequential sets of
auxiliary registers.
Each M OV instruction re ads a ne w bank of
multiplexed inputs.
T h e e q u i v a l e n t M T R i n s t r u c t i o n i s s h o w n
immediately before the 'user defined' MTR.
See the MTR instruction on page 5-54 for more
details.
10.12 An Example System
Application Using STL And IST Program Control
The following illustration shows a simple 'pick and
place' system utilizing a small robotic arm. The zero
point has been de-fined as the uppermost and left
most position accessible by the robot arm.
A normal sequence of events
A product is carried from point 'A' to point 'B' by the
robot arm. To achieve this operation the following
sequence of events takes place:
Initial position: the robot arm is at its zero point.
1) The Robots grip is lowered to it lowest limit
- output Y0: ON, input X1: ON, output Y0: OFF.
2) The grip clamped around the product at point A
- output Y1: ON.
Points Of Technique 10
FX FX
FX
1N 2N
1S
FX FX FX
1S 1N 2N
10-8
FX
2NC
FX
2NC